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You searched for: subject:"motion planning"
[texts]Preprocessing of Configuration Space for Improved Sampling Based Path Planning - Titas Bera, M. Seetharama Bhat, D. Ghose
Sampling based planners have been successful in path planning of robots with many degrees of freedom, but still remains ineective when the configuration space has a narrow passage. This paper presents two new techniques of preprocessing the configuration space. The first technique called a Random Walk to Surface (RWS), uses a random walk strategy to generate samples in narrow regions quickly, thus improving eciency of Probabilistic Roadmap (PRM) based planners...
Keywords: Robot Motion Planning; Randomized Algorithm; PRM; RRT
Downloads: 104
[texts]Mobile Robot Navigation Using a Combined Optimized Potential Field and a Boundary Following Algorithm - Samer Charifa, Marwan Bikdash
We propose a novel method to the navigation of mobile robots that combines a modified potential field method with a boundary-following algorithm. The resulting method avoids many of the pitfalls of each component method, such as entrapment in local minima, oscillation in narrow corridors, hugging obstacle boundaries inefficiently, and low-quality velocity and acceleration profiles. The proposed harmonic field has non-uniform boundary conditions based on the length of the shortest path to the tar...
Keywords: Motion Planning; Harmonic Potential Field; Line-segment Robot
Downloads: 68
[movies]MIT 6.832 Underactuated Robotics, Spring 2009 - MIT OpenCourseWare
Instructor: Russell Tedrake Robots today move far too conservatively, using control systems that attempt to maintain full control authority at all times. Humans and animals move much more aggressively by routinely executing motions which involve a loss of instantaneous control authority. Controlling nonlinear systems without complete control authority requires methods that can reason about and exploit the natural dynamics of our machines...
Keywords: underactuated robotics; actuated systems; nonlinear dynamics; simple pendulum; optimal control; double integrator; quadratic regulator; Hamilton-Jacobi-Bellman sufficiency; minimum time control; acrobot; cart-pole; partial feedback linearization; energy shaping; policy search; open-loop optimal control; trajectory stabilization; iterative linear quadratic regulator; differential dynamic programming; walking models; rimless wheel; compass gait; kneed compass gait; feedback control; running models; spring-loaded inverted pendulum; Raibert hoppers; motion planning; randomized motion planning; rapidly-exploring randomized trees; probabilistic road maps; feedback motion planning; planning with funnels; linear quadratic regulator; function approximation; state distribution dynamics; state estimation; stochastic optimal control; aircraft; swimming; flapping flight; randomized policy gradient; model-free value methods; temporarl difference learning; Q-learning; actor-critic methods
Downloads: 19,753
[texts]mit :: ai :: aim :: AIM-957
From the bitsavers.org collection, a scanned-in computer-related document.mit :: ai :: aim :: AIM-957
Keywords: path; voronoi; homotopy; configuration; define; critical; constraints; diagram; deformation; predicate; free space; finite number; voronoi diagram; motion planning; path segment; lowest common; common ancestor; simplified voronoi; voronoi diagrams; configuration space
Downloads: 38
[texts]mit :: ai :: aim :: AIM-896
From the bitsavers.org collection, a scanned-in computer-related document.mit :: ai :: aim :: AIM-896
Keywords: link; obstacle; dimensional; manipulator; configuration; contact; joint; vertex; edge; ranges; orientation constraint; three dimensional; free space; motion planning; slice projection; slice projections; link edge; configuration space; dimensional slice; position vector
Downloads: 33
[texts]dec :: tech reports :: PRL-RR-34
From the bitsavers.org collection, a scanned-in computer-related document.dec :: tech reports :: PRL-RR-34
Keywords: manipulation; grasping; robot; planning; path; configuration; docking; movable; constraints; planner; penalty function; motion planning; function method; manipulation planning; docking positions; constrained motion; path planning; grasping constraints; planning problems; grasping constraint
Downloads: 3
[texts]mit :: ai :: aim :: AIM-883
From the bitsavers.org collection, a scanned-in computer-related document.mit :: ai :: aim :: AIM-883
Keywords: configuration; planner; constraints; objects; motions; obstacle; object; moving; planning; constraint; single moving; obstacle polygon; configuration space; planning object; moving objects; multiple moving; time complexity; constraints imposed; moving object; motion planning
Downloads: 41
[texts]dec :: tech reports :: SRC-RR-101A
From the bitsavers.org collection, a scanned-in computer-related document.dec :: tech reports :: SRC-RR-101A
Keywords: algorithm; voronoi; geometric; animation; algorithms; convex; videotape; computational; path; robot; voronoi diagram; motion planning; accompanying videotape; computational geometry; compliant motion; algorithm animation; nearest neighbor; data structure; sweepline algorithm; silicon graphics
Downloads: 6
[texts]mit :: ai :: aim :: AITR-982
From the bitsavers.org collection, a scanned-in computer-related document.mit :: ai :: aim :: AITR-982
Keywords: edr; motion; configuration; projection; space; sensing; robot; generalized; algorithm; termination; edr region; motion planning; configuration space; edr strategy; generalized configuration; model error; failure mode; start region; forward projection; termination predicate
Downloads: 46
[texts]dec :: tech reports :: PRL-RR-33
From the bitsavers.org collection, a scanned-in computer-related document.dec :: tech reports :: PRL-RR-33
Keywords: path; vdp; robot; dynamic; variational; planning; configuration; programming; manipulation; pvdp; dynamic programming; variational dynamic; path planning; configuration space; manipulation planning; planning problems; pierre ferbach; jerome barraquand; motion planning; report draft
Downloads: 6
[texts]dec :: tech reports :: PRL-RR-14
From the bitsavers.org collection, a scanned-in computer-related document.dec :: tech reports :: PRL-RR-14
Keywords: configuration; robot; path; workspace; barraquand; potential; random; minima; motion; rpp; configuration space; local minima; motion planning; path planning; local minimum; automatic motion; jerome barraquand; digital prl; brownian motion; space potential
Downloads: 8
[texts]Makoto Kaneko, Yoshihiko Nakamura - Robotics Research
Makoto Kaneko, Yoshihiko Nakamura - Robotics Research
Keywords: robot; robotics; robots; object; visual; motion; algorithm; control; ieee; data; motion planning; international conference; robot hand; verlag berlin; berlin heidelberg; loop closure; intelligent robots; force feedback; computer vision; motion patterns
Downloads: 207
[texts]Claude Latombe, Ming C. Lin - Algorithmic Foundations of Robotics IX - David Hsu, Volkan Isler, Jean
Claude Latombe, Ming C. Lin - Algorithmic Foundations of Robotics IX
Keywords: path; algorithm; robot; planning; robotics; algorithms; robots; trajectory; collision; paths; motion planning; path planning; local planning; configuration space; international conference; algorithmic foundations; bayes tree; collision detection; robot motion; vector field
Downloads: 70
[texts]mit :: ai :: aim :: AITR-791
From the bitsavers.org collection, a scanned-in computer-related document.mit :: ai :: aim :: AITR-791
Keywords: intersection; configuration; constraints; algorithm; space; rotational; path; applicability; constraint; rotation; applicability constraints; solution path; configuration space; motion planning; intersection manifold; geometric planning; applicability set; moving object; intersection manifolds; three dimensional
Downloads: 37
[movies]MIT2.12F04 - MIT OpenCourseWare
This course provides an overview of robot mechanisms, dynamics, and intelligent controls. Topics include planar and spatial kinematics, and motion planning; mechanism design for manipulators and mobile robots, multi-rigid-body dynamics, 3D graphic simulation; control design, actuators, and sensors; wireless networking, task modeling, human-machine interface, and embedded software. Weekly laboratories provide experience with servo drives, real-time control, and embedded software...
Keywords: robot; robot design; rescue; recovery; automation; dynamics; statics; intelligent control; planar and spatial kinematics; motion planning; manipulator; mobile robots; multi-rigid-body dynamics; 3D graphic simulation; control design; actuator; sensor; task modeling; human-machine interface; embedded software; servo; servomechanism; real-time control; computer vision; navigation; tele-robotics; virtual reality
Downloads: 2,421
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